CN203401485U - Self-moving robot with walking state judgment device - Google Patents
Self-moving robot with walking state judgment device Download PDFInfo
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- CN203401485U CN203401485U CN201320447600.3U CN201320447600U CN203401485U CN 203401485 U CN203401485 U CN 203401485U CN 201320447600 U CN201320447600 U CN 201320447600U CN 203401485 U CN203401485 U CN 203401485U
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Abstract
A self-moving robot with a walking state judgment device comprises a self-moving robot body. The walking state judgment device is arranged on the body and comprises a drive wheel assembly and a micro control unit. The drive wheel assembly comprises a drive motor and a drive wheel. The walking state judgment device further comprises a follower wheel assembly (100) which is arranged on the body. The drive wheel assembly and the follower wheel assembly respectively acquire movement signals of the drive wheel and movement signals of a follower wheel of the self-moving robot, and send the acquired movement signals of the drive wheel and the acquired movement signals of the follower wheel back to the micro control unit. The micro control unit judges the walking state of the self-moving robot according to the movement signals of the drive wheel and the movement signals of the follower wheel. The self-moving robot is simple and compact in structure, small in size, low in manufacturing cost and accurate and sensitive in judgment, and working efficiency of the self-moving robot is improved.
Description
Technical field
The utility model relates to a kind of self-movement robot with walking states judgment means, belongs to small household appliances manufacturing technology field.
Background technology
Traditional self-moving device, for example: glass-cleaning robot.Can detect by encoder is set on driving wheel the size of its displacement, that the drive motors of code-disc and driving wheel is connected specifically, when motor rotates, code-disc corresponding rotation, with the corresponding generation of the optocoupler pulse signal of code-disc docking, micro-control unit (MCU) calculates the travel distance of self-moving device according to this pulse signal.Yet glass-cleaning robot is when running into glass surface and have water stain grade compared with smooth flat, driving wheel easy original place rotation is skidded, now, the drive motors of driving wheel is still rotating, optocoupler continues to produce induced signal, causes the false judgment of glass-cleaning robot, makes it still in travel condition, can not guarantee the sports safety of glass-cleaning robot, be unfavorable for again saving the energy.
Secondly, consulting patent documentation CN102680724A, adopt supporting roller that the travel distance that encoder tests the speed or measures self-moving device is set, is also a kind of existing technological means.
In addition; traditional self-movement robot conventionally can also hit plate in the front end setting of robot direct of travel and carry out collision sense barrier; that is: when robot is in traveling process during collision obstacle, front end hits plate and produces induced signal, robot judgement sensing barrier.But the hitting plate itself and can cause the volume of robot to increase of this collision sense barrier, and this hits plate setting and also can produce larger cost.
Therefore, urgently develop a kind of be applicable to self-moving device, can accurate, sensitive perception self-movement robot motion state and sensing structure with low cost.
Utility model content
Technical problem to be solved in the utility model is for the deficiencies in the prior art, a kind of self-movement robot with walking states judgment means is provided, in this self-movement robot, be provided with drive wheel assemblies and supporting roller assembly, both cooperatively interact, by sensing signal transmission to micro-control unit, thereby judgement self-movement robot walking states; Simple and compact for structure, keep self-movement robot volume small and exquisite, cheap for manufacturing cost; First by the motor message of supporting roller assembly, judge that self-movement robot is in proper motion state or halted state, further by the motor message (comprising pulse signal or current signal) of drive wheel assemblies, judge that self-movement robot is in collision status or slipping state again, accuracy of judgement is sensitive, has improved the operating efficiency of self-movement robot.
Technical problem to be solved of the present utility model is achieved by the following technical solution:
A kind of self-movement robot with walking states judgment means, comprise self-movement robot body, body is provided with walking states judgment means, this device comprises drive wheel assemblies and micro-control unit, drive wheel assemblies comprises drive motors and driving wheel, described walking states judgment means also comprises the supporting roller assembly being arranged on body, described drive wheel assemblies and supporting roller assembly gather respectively the motor message of self-movement robot driving wheel and supporting roller, and the motor message of the driving wheel collecting and supporting roller is returned to micro-control unit; Micro-control unit is by described driving wheel motor message and supporting roller motor message, and the walking states of judgement self-movement robot, reports to the police or further control its motion mode according to judged result.
Described supporting roller assembly comprises the first support and is separately fixed at optocoupler on the first support to pipe, high accuracy code-disc, gear train and supporting roller, primary pinion and supporting roller in gear train coaxially arrange, final-stage gear and high accuracy code-disc are wholely set, when supporting roller rotates, gear set drive high accuracy code-disc rotates, described high accuracy code-disc is arranged on optocoupler between pipe, and described optocoupler is pulse signal to managing the corresponding supporting roller motor message producing.
As required, the gear in described gear train is one-level gear or multi-stage gear.
For supporting roller is pushed against on the walking surface of self-movement robot, described supporting roller assembly also comprises spring block, this spring block is fixed on the first support of supporting roller assembly, and the first support is fixed on body, and described spring block is pushed against supporting roller on the walking surface of self-movement robot.
Described drive wheel assemblies comprises the second support and is separately fixed at optocoupler on the second support to pipe, high accuracy code-disc, gear train and driving wheel, primary pinion and driving wheel in gear train coaxially arrange, final-stage gear and high accuracy code-disc are wholely set, when driving wheel rotates, gear set drive high accuracy code-disc rotates, described high accuracy code-disc is arranged on optocoupler between pipe, and described optocoupler is pulse signal to managing the corresponding driving wheel motor message producing.
In addition, described drive wheel assemblies also comprises current detecting unit, and described current detecting unit is connected with drive motors with micro-control unit respectively, the current signal that described driving wheel motor message is described drive motors.
As required, described self-movement robot comprises glass-cleaning robot, sweeping robot, air-treatment machine Ren, security protection robot, shopping guide robot or recreation, study robot.
In sum, the utility model provides a kind of self-movement robot with walking states judgment means, is provided with drive wheel assemblies and supporting roller assembly in this self-movement robot, and both cooperatively interact, by sensing signal transmission to micro-control unit, thereby judgement self-movement robot walking states.The utility model is simple and compact for structure, keeps self-movement robot volume small and exquisite, cheap for manufacturing cost; First by the motor message of supporting roller assembly, judge between mobile apparatus and walking surface whether have relative displacement, be that self-movement robot is in proper motion state or halted state, further by the size of the motor message of drive wheel assemblies or the current signal of two ends feedback, judge that self-movement robot is in encountering frame state or slipping state again, and then control self-movement robot and report to the police, turn to or retreat, accuracy of judgement is sensitive, has improved the operating efficiency of self-movement robot.
Below in conjunction with the drawings and specific embodiments, the technical solution of the utility model is described in detail.
Accompanying drawing explanation
Fig. 1 is the utility model self-movement robot supporting roller modular construction schematic diagram;
Fig. 2 is the top view of Fig. 1;
Fig. 3 is the utility model embodiment mono-glass-cleaning robot walking states determination methods flow chart;
Fig. 4 is the utility model embodiment bis-sweeping robot walking states determination methods flow charts.
The specific embodiment
The utility model provides a kind of self-movement robot with walking states judgment means, comprise self-movement robot body, body is provided with walking states judgment means, this device comprises drive wheel assemblies and micro-control unit, drive wheel assemblies comprises drive motors and driving wheel, described walking states judgment means also comprises the supporting roller assembly 100 being arranged on body, described drive wheel assemblies and supporting roller assembly gather respectively the motor message of self-movement robot driving wheel and supporting roller, and the motor message of the driving wheel collecting and supporting roller is returned to micro-control unit; Micro-control unit is by described driving wheel motor message and supporting roller motor message, and the walking states of judgement self-movement robot, reports to the police or further control its motion mode according to judged result.
Fig. 1 is the utility model self-movement robot supporting roller modular construction schematic diagram, the top view that Fig. 2 is Fig. 1.As Fig. 1 and in conjunction with as shown in Fig. 2, described supporting roller assembly 100 comprise the first support 110 and be fixed on optocoupler on this first support 110 to managing 120, high accuracy code-disc 130, gear train 140 and supporting roller 160.Gear train 140 comprises gear shaft and a plurality of gear, and the primary pinion 150 in gear train 140 coaxially arranges with supporting roller 160, and final-stage gear and high accuracy code-disc 130 are wholely set, and when supporting roller 160 rotates, gear train 140 drives high accuracy code-disc 130 to rotate.According to speed change needs, gear train 140 can be one-level gear or multi-stage gear.If this gear train is multi-stage gear, namely final-stage gear and high accuracy code-disc 130 are wholely set the afterbody gear of this multi-stage gear.When self-movement robot is normally walked, supporting roller 160 rotates, and the gear consisting of gear train 140 drives high accuracy code-disc 130 to rotate, and the effect of the gear consisting of gear train 140 is the rotating speed that improves high accuracy code-disc 130.High accuracy code-disc 130 is arranged on optocoupler to managing between 120, and described optocoupler is pulse signal to managing the supporting roller motor message of 120 generations.Certainly, can also complete speed change by other version, such as: between gear train 140 and supporting roller, can also interconnect by driving-belt, supporting roller brings driven gear group to rotate by transmission, further strengthens the rotating speed of high accuracy code-disc.For supporting roller 160 is pushed against on the walking surface of self-movement robot, described supporting roller assembly 100 also comprises spring block, this spring block is fixed on the first support 110 of supporting roller assembly 100, the first support is fixed on the body of self-movement robot, and described spring block is pushed against supporting roller on the walking surface of self-movement robot.Similarly, the structure of drive wheel assemblies and supporting roller assembly is similar, specifically, described drive wheel assemblies comprises the second support and is separately fixed at optocoupler on the second support to pipe, high accuracy code-disc, gear train and driving wheel, primary pinion and driving wheel in gear train coaxially arrange, final-stage gear and high accuracy code-disc are wholely set, and when driving wheel rotates, gear set drive high accuracy code-disc rotates.Described high accuracy code-disc is arranged on optocoupler between pipe, and described optocoupler is pulse signal to managing the corresponding driving wheel motor message producing.Certainly, driving wheel also can bring driven gear group to rotate by transmission, further strengthens the rotating speed of high accuracy code-disc.Therefore, the unique difference of drive wheel assemblies and supporting roller assembly is that the wheel in assembly is respectively driving wheel or supporting roller, and other structures are all identical.
Above-mentioned drive wheel assemblies judges the motion state of driving wheel by detecting pulse signal, this drive wheel assemblies can also judge by detecting the current signal of drive motors the motion state of driving wheel.Concrete, described drive wheel assemblies also comprises current detecting unit, and described current detecting unit is connected with drive motors with micro-control unit respectively, the current signal that described driving wheel motor message is described drive motors.
It is emphasized that supporting roller motor message or driving wheel motor message also can be realized or be detected by alternate manner, the utility model is not as limit.Simply, as interval on the wheel face at supporting roller or driving wheel arranges, return light coating, optical detecting unit can correspondingly detect and produce supporting roller motor message or driving wheel motor message.
The kind of self-movement robot is a lot, can comprise glass-cleaning robot, sweeping robot, air-treatment machine Ren, security protection robot, shopping guide robot or recreation, study robot etc.But no matter be which kind of self-movement robot, can its walking states be judged exactly by above-mentioned walking states judgment means.
Embodiment mono-
Fig. 3 is the utility model embodiment mono-glass-cleaning robot walking states determination methods flow chart.As shown in Figure 3, below take glass-cleaning robot as example, the concrete deterministic process of its walking states is described in detail.
On the body of glass-cleaning robot, be provided with walking states judgment means, this walking states judgment means has comprised supporting roller assembly 100, because this supporting roller assembly is under the effect of spring block, all the time be pressed on glass surface, while guaranteeing glass-cleaning robot motion, supporting roller is being followed and is being rotated all the time, actual how many distances of having advanced of glass-cleaning robot like this, supporting roller is just followed and is rotated how many distances.High accuracy code-disc 130 is arranged on optocoupler to managing between 120, gear when rotating in meeting driven gear group 140 rotates, after amplifying through one or more levels, drive high accuracy code-disc 130, code-disc rotation converts pulse signal through optocoupler to pipe and returns to micro-control unit (MCU), the motor message that this stable pulse signal is supporting roller.Glass-cleaning robot is in the process of advancing, if micro-control unit can receive from the stable pulse signal of supporting roller assembly 100, proof glass-cleaning robot is being done normal walking movement, if this stable pulse signal interrupts suddenly, proves now no longer motion of supporting roller.When supporting roller does not move, glass-cleaning robot is likely in two states, and a kind of state is that this glass-cleaning robot is encountered glass frame and cannot be advanced; Another kind of state is likely because water stain the skidding of causing of glass surface.How above-mentioned two situations distinguished and to be judged, needing the drive wheel assemblies in walking states judgment means to coordinate.As described above, the internal structure of drive wheel assemblies and supporting roller assembly 100 are similar, can produce fluctuating signal equally.Obviously, if micro-control unit can receive from the stable pulse signal of drive wheel assemblies, driving wheel has motor message, represents that glass-cleaning robot is in slipping state; Otherwise, represent that glass-cleaning robot is in the state with barrier collision, such as: because bumping and cannot continue motion with glass frame, or encountered other barriers on glass surface.
Subsequently, micro-control unit can, according to the motion state of the glass-cleaning robot judging in said process, send command adapted thereto.Such as: report to the police and inform user, or control glass-cleaning robot makes the actions such as its execution turns to, retreats avoid obstacle.
Embodiment bis-
Fig. 4 is the utility model embodiment bis-sweeping robot walking states determination methods flow charts.As shown in Figure 4, below take sweeping robot as example, the concrete deterministic process of its walking states is described in detail.
The walking states judgment means arranging on the body of sweeping robot, comprised supporting roller assembly 100, this supporting roller assembly is pressed on ground by spring block all the time, guarantee that supporting roller and then rotates all the time when sweeping robot moves, the distance that the actual distance of advancing of sweeping robot and supporting roller 160 are rotated is corresponding.Similarly, gear when supporting roller 160 rotates in meeting driven gear group 140 rotates, after amplifying through one or more levels, drive high accuracy code-disc 130, code-disc rotates through optocoupler and converts pulse signal to and return to micro-control unit (MCU) managing 120, forms stable supporting roller pulse signal.If in the operation process of sweeping robot, this stable pulse signal interrupts suddenly, proves now no longer motion of supporting roller 160.When supporting roller does not move, sweeping robot is likely in two states, and a kind of state is that this sweeping robot is encountered indoor barrier, such as: furniture or wall and cannot advance; Another kind of state is likely because small floating dust or water stain the skidding of causing in ground.How above-mentioned two situations distinguished and to be judged, needing the drive wheel assemblies in walking states judgment means to coordinate.Under the normal walking states of sweeping robot, the drive current that is arranged on the current detecting unit detection driving wheel in drive wheel assemblies is I
0.When the micro-control unit (MCU) of sweeping robot does not have to interrupt the power supply to driving wheel, and now driving wheel two ends feedback current is than usual little, so just can judge to have run into and skid; If MCU does not interrupt to driving wheel power supply, and now driving wheel two ends feedback current is large than usual, so just can judge and run into barrier.That is to say, current detecting unit detects the drive current I of the drive motors of driving wheel
1if, I
1< I
0, that is: the frictional force on driving wheel and ground is less, causes electric current to reduce, and judges that self-movement robot is in slipping state; If I
1> I
0, that is: driving wheel stall, because the frictional force on itself and ground is larger, causes electric current to increase, and proves that self-movement robot is in the state with barrier collision.
Subsequently, micro-control unit can, according to the motion state of the sweeping robot judging in said process, send command adapted thereto.Such as: report to the police and inform user, or control sweeping robot makes the actions such as its execution turns to, retreats avoid obstacle.
In sum, the utility model provides a kind of self-movement robot with walking states judgment means, is provided with drive wheel assemblies and supporting roller assembly in this self-movement robot, and both cooperatively interact, by sensing signal transmission to micro-control unit, thereby judgement self-movement robot walking states.The utility model is simple and compact for structure, keeps self-movement robot volume small and exquisite, cheap for manufacturing cost; First by the motor message of supporting roller assembly, judge between mobile apparatus and walking surface whether have relative displacement, be that self-movement robot is in proper motion state or halted state, further by the size of the motor message of drive wheel assemblies or the current signal of two ends feedback, judge that self-movement robot is in encountering frame state or slipping state again, and then control self-movement robot and report to the police, turn to or retreat, accuracy of judgement is sensitive, has improved the operating efficiency of self-movement robot.
Claims (7)
1. the self-movement robot with walking states judgment means, comprise self-movement robot body, body is provided with walking states judgment means, this walking states judgment means comprises drive wheel assemblies and micro-control unit, drive wheel assemblies comprises drive motors and driving wheel, it is characterized in that, described walking states judgment means also comprises the supporting roller assembly (100) being arranged on body, described drive wheel assemblies and supporting roller assembly gather respectively the motor message of self-movement robot driving wheel and supporting roller, and the motor message of the driving wheel collecting and supporting roller is returned to micro-control unit, micro-control unit, by described driving wheel motor message and supporting roller motor message, judges the walking states of self-movement robot.
2. the self-movement robot with walking states judgment means as claimed in claim 1, it is characterized in that, described supporting roller assembly (100) comprises the first support (110) and is separately fixed at optocoupler on the first support to pipe (120), high accuracy code-disc (130), gear train (140), and supporting roller (160), primary pinion in gear train (150) coaxially arranges with supporting roller (160), final-stage gear and high accuracy code-disc (130) are wholely set, when supporting roller rotates, gear set drive high accuracy code-disc rotates, described high accuracy code-disc is arranged on optocoupler between pipe, described optocoupler is pulse signal to managing the corresponding supporting roller motor message producing.
3. the self-movement robot with walking states judgment means as claimed in claim 2, is characterized in that, described gear train (140) is one-level gear or multi-stage gear.
4. the self-movement robot with walking states judgment means as claimed in claim 2, it is characterized in that, described supporting roller assembly (100) also comprises spring block, described spring block is fixed on first support (110) of supporting roller assembly, the first support is fixed on self-movement robot body, and described spring block is pushed against supporting roller on the walking surface of self-movement robot.
5. the self-movement robot with walking states judgment means as claimed in claim 1, it is characterized in that, described drive wheel assemblies comprises the second support and is separately fixed at optocoupler on the second support to pipe, high accuracy code-disc, gear train and driving wheel, primary pinion and driving wheel in gear train coaxially arrange, final-stage gear and high accuracy code-disc are wholely set, when described driving wheel rotates, gear set drive high accuracy code-disc rotates, described high accuracy code-disc is arranged on optocoupler between pipe, and described optocoupler is pulse signal to managing the corresponding driving wheel motor message producing; Described the second support is fixed on self-movement robot body.
6. the self-movement robot with walking states judgment means as claimed in claim 1, it is characterized in that, described drive wheel assemblies also comprises current detecting unit, described current detecting unit is connected with drive motors with micro-control unit respectively, the current signal that described driving wheel motor message is described drive motors.
7. the self-movement robot with walking states judgment means as described in claim 1-6 any one, it is characterized in that, described self-movement robot comprises glass-cleaning robot, sweeping robot, air-treatment machine Ren, security protection robot, shopping guide robot or recreation, study robot.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201320447600.3U CN203401485U (en) | 2013-07-25 | 2013-07-25 | Self-moving robot with walking state judgment device |
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|---|---|---|---|
| CN201320447600.3U CN203401485U (en) | 2013-07-25 | 2013-07-25 | Self-moving robot with walking state judgment device |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104345730A (en) * | 2013-07-25 | 2015-02-11 | 科沃斯机器人科技(苏州)有限公司 | Automatic mobile robot having walking state determining device, walking state determining method |
| CN107414893A (en) * | 2017-09-05 | 2017-12-01 | 天津市嘉杰电子有限公司 | A kind of universal chassis of heavily loaded two-wheeled differential mechanism people |
| CN107595217A (en) * | 2017-08-17 | 2018-01-19 | 上海美祎科技有限公司 | Sweeping robot and its roller fault detection method |
| CN110154085A (en) * | 2019-05-14 | 2019-08-23 | 北京云迹科技有限公司 | Robot idle running recognition methods and device |
-
2013
- 2013-07-25 CN CN201320447600.3U patent/CN203401485U/en not_active Expired - Lifetime
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104345730A (en) * | 2013-07-25 | 2015-02-11 | 科沃斯机器人科技(苏州)有限公司 | Automatic mobile robot having walking state determining device, walking state determining method |
| CN107595217A (en) * | 2017-08-17 | 2018-01-19 | 上海美祎科技有限公司 | Sweeping robot and its roller fault detection method |
| CN113243860A (en) * | 2017-08-17 | 2021-08-13 | 追创科技(苏州)有限公司 | Sweeping robot and roller fault detection method thereof |
| CN107414893A (en) * | 2017-09-05 | 2017-12-01 | 天津市嘉杰电子有限公司 | A kind of universal chassis of heavily loaded two-wheeled differential mechanism people |
| CN107414893B (en) * | 2017-09-05 | 2023-09-19 | 深圳市腾隆达智能科技有限公司 | Universal chassis of heavy-duty two-wheel differential robot |
| CN110154085A (en) * | 2019-05-14 | 2019-08-23 | 北京云迹科技有限公司 | Robot idle running recognition methods and device |
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| CP01 | Change in the name or title of a patent holder |
Address after: 215168 Wuzhong District, Jiangsu, Stone Lake Road West, No. 108 Patentee after: ECOVACS ROBOTICS Co.,Ltd. Address before: 215168 Wuzhong District, Jiangsu, Stone Lake Road West, No. 108 Patentee before: ECOVACS ROBOTICS Co.,Ltd. Address after: 215168 Wuzhong District, Jiangsu, Stone Lake Road West, No. 108 Patentee after: ECOVACS ROBOTICS Co.,Ltd. Address before: 215168 Wuzhong District, Jiangsu, Stone Lake Road West, No. 108 Patentee before: ECOVACS ROBOTICS (SUZHOU) Co.,Ltd. |
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| CX01 | Expiry of patent term |
Granted publication date: 20140122 |
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| CX01 | Expiry of patent term |